/PROG  PNS0170
/ATTR
OWNER		= MNEDITOR;
COMMENT		= "V214-2900/3000";
PROG_SIZE	= 2107;
CREATE		= DATE 24-07-28  TIME 19:00:00;
MODIFIED	= DATE 24-07-28  TIME 19:06:18;
FILE_NAME	= PNS0011;
VERSION		= 0;
LINE_COUNT	= 47;
MEMORY_SIZE	= 2575;
PROTECT		= READ_WRITE;
TCD:  STACK_SIZE	= 0,
      TASK_PRIORITY	= 50,
      TIME_SLICE	= 0,
      BUSY_LAMP_OFF	= 0,
      ABORT_REQUEST	= 0,
      PAUSE_REQUEST	= 0;
DEFAULT_GROUP	= 1,*,*,*,*;
CONTROL_CODE	= 00000000 00000000;
/APPL
/MN
   1:  !******************************** ;
   2:  !     COSMA METAL FORMING  ;
   3:  !******************************** ;
   4:  !  LINE: CHINA CHANGSHA ;
   5:  !  ROBOT: R34 ;
   6:  !  PROGRAM: PNS0059 ;
   7:  !  PART:51942342  ;
   8:  !******************************** ;
   9:   ;
  10:  !INITIALIZE ;
  11:  MOVE TO HOME    ;
  12:  R[14:CG SENSETIVE]=90    ;
  13:  R[18:PICK TIME BEFORE]=1    ;
  14:  R[19:DROP TIME BEFORE]=.1    ;
  15:   ;
  16:  !------------------------------- ;
  17:  !BEGINNING OF PROGRAM ;
  18:  CALL PARTDROP    ;
  19:  COL GUARD ADJUST R[14] ;
  20:  UTOOL_NUM=1 ;
  21:  UFRAME_NUM=0 ;
  22:  PAYLOAD[1] ;
  23:  R[5:SPEED           ]=10    ;
  24:  OVERRIDE=R[5:SPEED           ] ;
  25:  !INITIATE TO PICK-POUNCE ;
  26:J P[1:MIDDLE] 50% CNT100 ACC100    ;
  27:J P[6] 50% CNT100 BREAK ACC100    ;
  28:   ;
  29:  LBL[20] ;
  30:J P[3:PICK APPROACH] 100% CNT30 ACC100    ;
  31:J P[4:PICK] 100% CNT5 ACC80    ;
  32:J P[5:PICK DEPART] 100% CNT20 ACC80    ;
  33:J P[7:PICK CLEAR] 100% CNT100 ACC100    ;
  34:   ;
  35:J P[8:DROP POUNCE] 100% CNT100 ACC100    ;
  36:   ;
  37:J P[9:DROP SNEAK] 100% CNT100 ACC100    ;
  38:J P[10:DROP APPROACH] 100% CNT10 ACC100    ;
  39:  MONITOR END Z_CHECH ;
  40:J P[11:DROP] 100% CNT5 TB R[19]sec,CALL PARTDROP ACC100    ;
  41:J P[12:DROP DEPART] 100% CNT100 ACC130 TA    .10sec,DO[7:PRESS STAMPING START]=PULSE,1.0sec    ;
  42:  CALL CHK_DROP    ;
  43:J P[13:DROP CLEAR] 100% CNT100 ACC130    ;
  44:  !GOTO PICK POUNCE ;
  45:J P[2:PICK POUNCE] 100% CNT100 ACC100 BREAK    ;
  46:  JMP LBL[20] ;
  47:   ;
/POS
P[1:"MIDDLE"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  1986.203  mm,	Y =    -8.098  mm,	Z = -1015.211  mm,
	W =  -179.183 deg,	P =     1.681 deg,	R =  -179.587 deg,
	E1=   104.349 deg
};
P[2:"PICK POUNCE"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  2072.384  mm,	Y =  1576.000  mm,	Z =  -928.207  mm,
	W =   179.322 deg,	P =     1.370 deg,	R =   150.802 deg,
	E1=   134.033 deg
};
P[3:"PICK APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  2588.804  mm,	Y =  3301.660  mm,	Z = -1050.630  mm,
	W =  -178.978 deg,	P =     -.224 deg,	R =    91.101 deg,
	E1=   193.125 deg
};
P[4:"PICK"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  2588.970  mm,	Y =  3301.698  mm,	Z = -1102.410  mm,
	W =  -178.966 deg,	P =     -.212 deg,	R =    91.105 deg,
	E1=   193.125 deg
};
P[5:"PICK DEPART"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  2588.803  mm,	Y =  3301.659  mm,	Z =  -923.751  mm,
	W =  -178.978 deg,	P =     -.224 deg,	R =    91.101 deg,
	E1=   193.125 deg
};
P[6]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  2072.319  mm,	Y =  1483.940  mm,	Z =  -998.773  mm,
	W =   179.327 deg,	P =     1.368 deg,	R =   150.802 deg,
	E1=   134.032 deg
};
P[7:"PICK CLEAR"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  2072.399  mm,	Y =  1318.044  mm,	Z =  -952.000  mm,
	W =   179.320 deg,	P =     1.371 deg,	R =   150.802 deg,
	E1=   134.033 deg
};
P[8:"DROP POUNCE"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  2048.562  mm,	Y = -1000.721  mm,	Z =  -958.561  mm,
	W =  -178.096 deg,	P =     1.000 deg,	R =  -157.691 deg,
	E1=    82.388 deg
};
P[9:"DROP SNEAK"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  2254.939  mm,	Y = -1976.727  mm,	Z =  -948.420  mm,
	W =  -178.324 deg,	P =     -.474 deg,	R =  -130.566 deg,
	E1=    54.967 deg
};
P[10:"DROP APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  2629.563  mm,	Y = -3283.934  mm,	Z =  -955.194  mm,
	W =  -179.759 deg,	P =    -1.118 deg,	R =   -91.791 deg,
	E1=    14.377 deg
};
P[11:"DROP"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  2629.562  mm,	Y = -3283.934  mm,	Z = -1090.395  mm,
	W =  -179.759 deg,	P =    -1.118 deg,	R =   -91.791 deg,
	E1=    14.377 deg
};
P[12:"DROP DEPART"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  2629.563  mm,	Y = -3283.934  mm,	Z = -1001.275  mm,
	W =  -179.759 deg,	P =    -1.118 deg,	R =   -91.791 deg,
	E1=    14.377 deg
};
P[13:"DROP CLEAR"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  2197.982  mm,	Y = -1463.510  mm,	Z = -1100.000  mm,
	W =  -178.701 deg,	P =      .061 deg,	R =  -144.855 deg,
	E1=    69.143 deg
};
/END
